diff --git a/Inc/defines.h b/Inc/defines.h
index d8d3577..414a3a5 100644
--- a/Inc/defines.h
+++ b/Inc/defines.h
@@ -176,4 +176,5 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len);
 #endif
 #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
 void usart_process_command(SerialCommand *command_in, SerialCommand *command_out, uint8_t usart_idx);
-#endif
\ No newline at end of file
+#endif
+void UART_EndRxTransfer(UART_HandleTypeDef *huart);
\ No newline at end of file
diff --git a/Src/control.c b/Src/control.c
index f9fce75..ec963d4 100644
--- a/Src/control.c
+++ b/Src/control.c
@@ -23,6 +23,7 @@ extern UART_HandleTypeDef huart3;
 #if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2)
 extern uint8_t rx_buffer_L[SERIAL_BUFFER_SIZE];	    // USART Rx DMA circular buffer
 static uint32_t rx_buffer_L_len = ARRAY_LEN(rx_buffer_L);
+static uint32_t old_pos;
 #endif
 #if defined(CONTROL_SERIAL_USART2)
 extern uint16_t timeoutCntSerial_L;  		            // Timeout counter for Rx Serial command
@@ -31,6 +32,7 @@ extern uint16_t timeoutCntSerial_L;  		            // Timeout counter for Rx Ser
 #if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3)
 extern uint8_t rx_buffer_R[SERIAL_BUFFER_SIZE];	    // USART Rx DMA circular buffer
 static uint32_t rx_buffer_R_len = ARRAY_LEN(rx_buffer_R);
+static uint32_t old_pos;
 #endif
 #if defined(CONTROL_SERIAL_USART3)
 extern uint16_t timeoutCntSerial_R;  		            // Timeout counter for Rx Serial command
@@ -151,7 +153,6 @@ void Nunchuck_Read() {
 void usart2_rx_check(void)
 {
   #if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2)
-  static uint32_t old_pos;
   uint32_t pos;
   pos = rx_buffer_L_len - __HAL_DMA_GET_COUNTER(huart2.hdmarx);         // Calculate current position in buffer
   #endif
@@ -203,7 +204,6 @@ void usart2_rx_check(void)
 void usart3_rx_check(void)
 {
   #if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3)
-  static uint32_t old_pos;
   uint32_t pos;  
   pos = rx_buffer_R_len - __HAL_DMA_GET_COUNTER(huart3.hdmarx);         // Calculate current position in buffer
   #endif
@@ -300,13 +300,36 @@ void usart_process_command(SerialCommand *command_in, SerialCommand *command_out
 void HAL_UART_ErrorCallback(UART_HandleTypeDef *uartHandle) {
   #if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
   if(uartHandle->Instance == USART2) {
+    HAL_DMA_Abort(uartHandle->hdmarx);
+    UART_EndRxTransfer(uartHandle);
     HAL_UART_Receive_DMA(uartHandle, (uint8_t *)rx_buffer_L, sizeof(rx_buffer_L));
+    old_pos = 0;
   }
   #endif
   #if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
   if(uartHandle->Instance == USART3) {
+    HAL_DMA_Abort(uartHandle->hdmarx);
+    UART_EndRxTransfer(uartHandle);
     HAL_UART_Receive_DMA(uartHandle, (uint8_t *)rx_buffer_R, sizeof(rx_buffer_R));
+    old_pos = 0;
   }
   #endif
 }
 
+
+/**
+  * @brief  End ongoing Rx transfer on UART peripheral (following error detection or Reception completion).
+  * @param  huart: UART handle.
+  * @retval None
+  */
+void UART_EndRxTransfer(UART_HandleTypeDef *huart)
+{
+  /* Disable RXNE (Interrupt Enable) and PE (Parity Error) interrupts */
+  CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE));
+  /* Disable EIE (Frame error, noise error, overrun error) interrupts */
+  CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);
+
+  /* At end of Rx process, restore huart->RxState to Ready */
+  huart->RxState = HAL_UART_STATE_READY;
+}
+